STATE OBSERVERS FOR RIGID AND ELASTIC JOINT ROBOTS

被引：6

作者：

NICOSIA, S

TOMEI, P

机构：

[1] Dipartimento di Ingegneria Elettronica, Seconda Università di Roma, 00173 Roma, Tor Vergata, Via O. Raimondo

来源：

ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING | 1992年 / 9卷 / 02期

关键词：

D O I：

10.1016/0736-5845(92)90004-P

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

This paper refers to the design of nonlinear observers for robot manipulators. Robots without and with elasticity in the joints are analyzed. In both cases, the uniform asymptotic stability of the error dynamics is proved and some separation and robustness properties are derived. The observer design is accomplished by exploiting the structural properties of the robot dynamics. The proposed observation algorithms have no need of coordinate changes, thus simplifying the observer implementation.

引用

页码：113 / 120

页数：8

共 15 条

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